Robotic linkage

Abstract

A flexible instrument comprises a first link and a second link that each comprise a first end, a second end, and a wall extending between the first end and the second end, the wall comprising an outer wall surface and an inner wall surface; an outer ear extending in a first axial direction away from the first end of the link; an inner bearing surface defined at the first end of the link, the inner bearing surface extending between the outer ear and the inner wall surface; an inner ear extending in a second axial direction away from the second end of the link; and an outer bearing surface defined at the second end of the wall, the inner bearing surface extending between the inner ear and the outer wall surface. The instrument further comprises at least one of a position sensor and an orientation sensor located along the wall of the instrument.

What is claimed is: 
     
       1. A flexible instrument, comprising:
 a first link and a second link, each of the first and second links comprising:
 a first end, a second end, and a wall extending between the first end and the second end, the wall comprising an outer wall surface and an inner wall surface, 
 an outer ear extending in a first axial direction away from the first end of the link, 
 an inner bearing surface defined at the first end of the link, the inner bearing surface extending between the outer ear and the inner wall surface, 
 an inner ear extending in a second axial direction away from the second end of the link, and 
 an outer bearing surface defined at the second end of the wall, the inner bearing surface extending between the inner ear and the outer wall surface, 
 wherein the outer bearing surface of the first link is configured to slidably support the outer ear of the second link, 
 wherein the inner bearing surface of the second link is configured to slidably support the inner ear of the first link, and 
 wherein the wall of each of the first and second links defines a wall of the instrument; and 
 
 at least one of a position sensor and an orientation sensor located along the wall of the instrument. 
 
     
     
       2. The flexible instrument of  claim 1 , wherein the outer bearing surface of the first link is configured to mate flushly with the outer ear of the second link and the inner bearing surface of the second link is configured to mate flushly with the inner ear of the first link. 
     
     
       3. The flexible instrument of  claim 1 , wherein the inner ear of the first link comprises an outer surface and the outer ear of the second link comprises an inner surface, and wherein the first and second links are configured to mate with one another such that the outer surface of the inner ear of the first link is configured to slidably contact the inner surface of the outer ear of the second link. 
     
     
       4. The flexible instrument of  claim 1 , wherein an interior volume of the instrument is sized to accommodate at least two working channels. 
     
     
       5. The flexible instrument of  claim 1 , wherein each of the first and second links comprises a polymer. 
     
     
       6. The flexible instrument of  claim 1 , wherein each of the first and second links comprises PEEK. 
     
     
       7. The flexible instrument of  claim 1 , wherein the first and second links are in a mating engagement in which the outer bearing surface of the first link slidably supports the outer ear of the second link, the inner bearing surface of the second link slidably supports the inner ear of the first link, and the first and second links are configured to articulate relative to each other about an axis of rotation extending through the outer ear of the second link and the inner ear of the first link. 
     
     
       8. The flexible instrument of  claim 7 , wherein the first and second links are configured to articulate relative to each other in a range through +/−30 degrees. 
     
     
       9. The flexible instrument of  claim 7 , further comprising an actuation tendon operably coupled to the first and second links, wherein the first and second links articulate relative to one another in response to tensioning the actuation tendon. 
     
     
       10. The flexible instrument of  claim 9 , further comprising a guide member positioned in alignment with at least one of the inner and outer ears of each of the first and second links, the actuation tendon extending through the guide member. 
     
     
       11. The flexible instrument of  claim 7 , wherein the first link is one of a plurality of first links and the second links is one of a plurality of second links, and the flexible instrument comprises a plurality of pairs of first links in a mating engagement with second links, the plurality of pairs of first and second links extending in a series along a length of the flexible instrument. 
     
     
       12. The flexible instrument of  claim 11 , wherein adjacent pairs of links along the series of links have axes of rotation that are perpendicular to one another. 
     
     
       13. The flexible instrument of  claim 1 , wherein:
 the outer ear and the inner bearing surface of each of the first and second links are a first outer ear and a first inner bearing surface, and 
 each of the first and second links further comprises a second outer ear and a second inner bearing surface positioned 90 degrees around a circumference of the link from the first outer ear and first inner bearing surface. 
 
     
     
       14. The flexible instrument of  claim 13 , wherein:
 the inner ear and the outer bearing surface of each of the first and second links are a first inner ear and a first outer bearing surface, and 
 each of the first and second links further comprises a second inner ear and a second outer bearing surface positioned 90 degrees around a circumference of the link from the first inner ear and first outer bearing surface. 
 
     
     
       15. The flexible instrument of  claim 14 , wherein:
 the first and second links are in a mating engagement in which the first and second outer bearing surfaces of the first link slidably supports the first and second outer ears, respectively, of the second link, and 
 the first and second links are configured to articulate relative to each other about an axis of rotation extending through the outer ears of the second link and the inner ears of the first link. 
 
     
     
       16. The flexible instrument of  claim 14 , wherein:
 the first and second links are in mating engagement in which the first and second inner bearing surfaces of the first link slidably supports the first and second inner ears, respectively, of the second link, and 
 the first and second links are configured to articulate relative to each other about an axis of rotation extending through the outer ears of the first link and the inner ears of the second link. 
 
     
     
       17. The flexible instrument of  claim 1 , wherein:
 the inner ear and the outer bearing surface of each of the first and second links are a first inner ear and a first outer bearing surface, and 
 each of the first and second links further comprises a second inner ear and a second outer bearing surface positioned 90 degrees around a circumference of the link from the first inner ear and first outer bearing surface. 
 
     
     
       18. The flexible instrument of  claim 1 , wherein the inner and outer bearing surfaces of each of the first and second links are curved. 
     
     
       19. The flexible instrument of  claim 1 , wherein the inner and outer bearing surfaces of each of the first and second links are concave. 
     
     
       20. The flexible instrument of  claim 1 , wherein the inner and outer ears of each of the first and second links comprise convex peripheral bearing surfaces.